diff --git a/tools/rosgraph/src/rosgraph/roslogging.py b/tools/rosgraph/src/rosgraph/roslogging.py
index d6b16cc141..9ecc121893 100644
--- a/tools/rosgraph/src/rosgraph/roslogging.py
+++ b/tools/rosgraph/src/rosgraph/roslogging.py
@@ -40,6 +40,7 @@
 import logging
 import logging.config
 import inspect
+import datetime
 
 import yaml
 
@@ -247,7 +248,16 @@ def emit(self, record):
             'ROSCONSOLE_FORMAT', '[${severity}] [${time}]: ${message}')
         msg = msg.replace('${severity}', level)
         msg = msg.replace('${message}', str(record_message))
-        msg = msg.replace('${walltime}', '%f' % time.time())
+
+        # walltime tag
+        msg = msg.replace('${walltime}', '%f' % time.time())  # for performance reasons
+
+        while '${walltime:' in msg:
+            tag_end_index = msg.index('${walltime:') + len('${walltime:')
+            time_format = msg[tag_end_index: msg.index('}', tag_end_index)]
+            time_str = time.strftime(time_format)
+            msg = msg.replace('${walltime:' + time_format + '}', time_str)
+
         msg = msg.replace('${thread}', str(record.thread))
         msg = msg.replace('${logger}', str(record.name))
         msg = msg.replace('${file}', str(record.pathname))
@@ -259,10 +269,23 @@ def emit(self, record):
         except ImportError:
             node_name = '<unknown_node_name>'
         msg = msg.replace('${node}', node_name)
+
+        # time tag
         time_str = '%f' % time.time()
         if self._get_time is not None and not self._is_wallclock():
             time_str += ', %f' % self._get_time()
-        msg = msg.replace('${time}', time_str)
+        msg = msg.replace('${time}', time_str)   # for performance reasons
+
+        while '${time:' in msg:
+            tag_end_index = msg.index('${time:') + len('${time:')
+            time_format = msg[tag_end_index: msg.index('}', tag_end_index)]
+            time_str = time.strftime(time_format)
+
+            if self._get_time is not None and not self._is_wallclock():
+                time_str += ', %f' % self._get_time()
+
+            msg = msg.replace('${time:' + time_format + '}', time_str)
+
         msg += '\n'
         if record.levelno < logging.WARNING:
             self._write(self._stdout, msg, color)
diff --git a/tools/rosgraph/test/test_roslogging.py b/tools/rosgraph/test/test_roslogging.py
index 3ce09eb7ba..67fbd75543 100644
--- a/tools/rosgraph/test/test_roslogging.py
+++ b/tools/rosgraph/test/test_roslogging.py
@@ -47,6 +47,7 @@
     '${severity}',
     '${message}',
     '${walltime}',
+    '${walltime:%Y-%m-%d %H:%M:%S}',
     '${thread}',
     '${logger}',
     '${file}',
@@ -54,6 +55,7 @@
     '${function}',
     '${node}',
     '${time}',
+    '${time:%Y-%m-%d %H:%M:%S}',
 ])
 rosgraph.roslogging.configure_logging('test_rosgraph', logging.INFO)
 loginfo = logging.getLogger('rosout').info
@@ -111,6 +113,7 @@ def test_rosconsole__logging_format():
                 'INFO',
                 'on ' + loc,
                 r'[0-9]*\.[0-9]*',
+                r'[0-9]{4}-[0-9]{2}-[0-9]{2} [0-9]{2}:[0-9]{2}:[0-9]{2}',
                 '[0-9]*',
                 'rosout',
                 re.escape(this_file),
@@ -119,6 +122,7 @@ def test_rosconsole__logging_format():
                 # depending if rospy.get_name() is available
                 '(/unnamed|<unknown_node_name>)',
                 r'[0-9]*\.[0-9]*',
+                r'[0-9]{4}-[0-9]{2}-[0-9]{2} [0-9]{2}:[0-9]{2}:[0-9]{2}',
             ])
             assert_regexp_matches(lout.getvalue().splitlines()[i], log_out)
 
diff --git a/tools/rosgraph/test/test_roslogging_user_logger.py b/tools/rosgraph/test/test_roslogging_user_logger.py
index 4e71ef0cb6..ab2981b781 100644
--- a/tools/rosgraph/test/test_roslogging_user_logger.py
+++ b/tools/rosgraph/test/test_roslogging_user_logger.py
@@ -86,6 +86,7 @@ def test_roslogging_user_logger():
         '${severity}',
         '${message}',
         '${walltime}',
+        '${walltime:%Y-%m-%d %H:%M:%S}',
         '${thread}',
         '${logger}',
         '${file}',
@@ -93,6 +94,7 @@ def test_roslogging_user_logger():
         '${function}',
         '${node}',
         '${time}',
+        '${time:%Y-%m-%d %H:%M:%S}',
     ])
     rosgraph.roslogging.configure_logging('test_rosgraph', logging.INFO)
     loginfo = logging.getLogger('rosout.custom_logger_test').info
@@ -128,6 +130,7 @@ def test_roslogging_user_logger():
             os.environ['ROS_IP'],
             msg,
             r'[0-9]*\.[0-9]*',
+            r'[0-9]{4}-[0-9]{2}-[0-9]{2} [0-9]{2}:[0-9]{2}:[0-9]{2}',
             '[0-9]*',
             'rosout.custom_logger_test',
             '<filename>',
@@ -136,6 +139,7 @@ def test_roslogging_user_logger():
             # depending if rospy.get_name() is available
             '(/unnamed|<unknown_node_name>)',
             r'[0-9]*\.[0-9]*',
+            r'[0-9]{4}-[0-9]{2}-[0-9]{2} [0-9]{2}:[0-9]{2}:[0-9]{2}',
         ])
         assert_regexp_matches(lout.getvalue().strip(), log_expected)